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<div class="title">rransac.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_RRANSAC_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_randomized_random_sample_consensus.html">   57</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html">RandomizedRandomSampleConsensus</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::Ptr SampleConsensusModelPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RandomizedRandomSampleConsensus&gt; Ptr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const RandomizedRandomSampleConsensus&gt; ConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::threshold_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::iterations_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::sac_model_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::model_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::model_coefficients_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::inliers_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::probability_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_randomized_random_sample_consensus.html#ab2cac4d95fb1feae0ac008b1248ab7a0">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#ab2cac4d95fb1feae0ac008b1248ab7a0">RandomizedRandomSampleConsensus</a> (<span class="keyword">const</span> SampleConsensusModelPtr &amp;model) </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (model)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        , <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">fraction_nr_pretest_</a> (10.0) <span class="comment">// Number of samples to try randomly in percents</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="comment">// Maximum number of trials before we give up.</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus.html#ab5ca8dbf21b2a1c6ed9c1e8d3eba853c">max_iterations_</a> = 10000;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_randomized_random_sample_consensus.html#a38f5e9122a09e4fa1efbc452d149d237">   89</a></span>&#160;      <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#a38f5e9122a09e4fa1efbc452d149d237">RandomizedRandomSampleConsensus</a> (<span class="keyword">const</span> SampleConsensusModelPtr &amp;model, <span class="keywordtype">double</span> threshold) </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (model, threshold)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        , <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">fraction_nr_pretest_</a> (10.0) <span class="comment">// Number of samples to try randomly in percents</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// Maximum number of trials before we give up.</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus.html#ab5ca8dbf21b2a1c6ed9c1e8d3eba853c">max_iterations_</a> = 10000;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#a560875576eab25bdfa6d8c21954eea1a">computeModel</a> (<span class="keywordtype">int</span> debug_verbosity_level = 0);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_randomized_random_sample_consensus.html#ae175f95c48e31e0b3b0f757582072fd3">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#ae175f95c48e31e0b3b0f757582072fd3">setFractionNrPretest</a> (<span class="keywordtype">double</span> nr_pretest) { <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">fraction_nr_pretest_</a> = nr_pretest; }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_randomized_random_sample_consensus.html#aabd5f52f6938b0637bff53a132e0fa5f">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#aabd5f52f6938b0637bff53a132e0fa5f">getFractionNrPretest</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">fraction_nr_pretest_</a>); }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">  115</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">fraction_nr_pretest_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  };</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/rransac.hpp&gt;</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html">pcl::RandomizedRandomSampleConsensus</a></div><div class="ttdoc">RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple...</div><div class="ttdef"><b>Definition:</b> rransac.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html_a38f5e9122a09e4fa1efbc452d149d237"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html#a38f5e9122a09e4fa1efbc452d149d237">pcl::RandomizedRandomSampleConsensus::RandomizedRandomSampleConsensus</a></div><div class="ttdeci">RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &amp;model, double threshold)</div><div class="ttdoc">RRANSAC (RAndom SAmple Consensus) main constructor</div><div class="ttdef"><b>Definition:</b> rransac.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html_a560875576eab25bdfa6d8c21954eea1a"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html#a560875576eab25bdfa6d8c21954eea1a">pcl::RandomizedRandomSampleConsensus::computeModel</a></div><div class="ttdeci">bool computeModel(int debug_verbosity_level=0)</div><div class="ttdoc">Compute the actual model and find the inliers</div><div class="ttdef"><b>Definition:</b> rransac.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html_aabd5f52f6938b0637bff53a132e0fa5f"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html#aabd5f52f6938b0637bff53a132e0fa5f">pcl::RandomizedRandomSampleConsensus::getFractionNrPretest</a></div><div class="ttdeci">double getFractionNrPretest()</div><div class="ttdoc">Get the percentage of points to pre-test.</div><div class="ttdef"><b>Definition:</b> rransac.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html_aae4105a5d252804531f9f07cc2c78cca"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html#aae4105a5d252804531f9f07cc2c78cca">pcl::RandomizedRandomSampleConsensus::fraction_nr_pretest_</a></div><div class="ttdeci">double fraction_nr_pretest_</div><div class="ttdoc">Number of samples to randomly pre-test, in percents.</div><div class="ttdef"><b>Definition:</b> rransac.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html_ab2cac4d95fb1feae0ac008b1248ab7a0"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html#ab2cac4d95fb1feae0ac008b1248ab7a0">pcl::RandomizedRandomSampleConsensus::RandomizedRandomSampleConsensus</a></div><div class="ttdeci">RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &amp;model)</div><div class="ttdoc">RANSAC (Randomized RAndom SAmple Consensus) main constructor</div><div class="ttdef"><b>Definition:</b> rransac.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html_ae175f95c48e31e0b3b0f757582072fd3"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html#ae175f95c48e31e0b3b0f757582072fd3">pcl::RandomizedRandomSampleConsensus::setFractionNrPretest</a></div><div class="ttdeci">void setFractionNrPretest(double nr_pretest)</div><div class="ttdoc">Set the percentage of points to pre-test.</div><div class="ttdef"><b>Definition:</b> rransac.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus.html">pcl::SampleConsensus</a></div><div class="ttdoc">SampleConsensus represents the base class. All sample consensus methods must inherit from this class.</div><div class="ttdef"><b>Definition:</b> sac.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_html_ab5ca8dbf21b2a1c6ed9c1e8d3eba853c"><div class="ttname"><a href="classpcl_1_1_sample_consensus.html#ab5ca8dbf21b2a1c6ed9c1e8d3eba853c">pcl::SampleConsensus&lt; PointT &gt;::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">Maximum number of iterations before giving up.</div><div class="ttdef"><b>Definition:</b> sac.h:331</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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